def toROSPolygon2DModel(self): ros = Polygon2DModel() ros.id = self.id ros.type = str(self.type) ros.pose = self.pose.toROS() ros.geometry = toPolygon2D(self.geometry) return ros
def toConcaveHullModel(self): ros = Polygon2DModel() ros.type = "ConcaveHull" ros.geometry = toPolygon2D(self.getConcaveHull2D()) return ros
def toFootprintHullModel(self): ros = Polygon2DModel() ros.type = "FootprintHull" ros.geometry = toPolygon2D(self.getConvexHull2D()) return ros
def toFootprintBoxModel(self): ros = Polygon2DModel() ros.type = "FootprintBox" geo = self.getBox2D() ros.geometry = toPolygon2D(geo) return ros
def toAbsoluteFootprintHullModel(self): ros = Polygon2DModel() ros.type = "FootprintHull" ros.pose = nullPose() ros.geometry = toPolygon2D(self.getAConvexHull2D()) return ros
def toAbsoluteFootprintBoxModel(self): ros = Polygon2DModel() ros.type = "FootprintBox" ros.geometry = toPolygon2D(self.getABox2D()) return ros
def toAxisAlignedBoundingBoxModel(self): ros = Polygon2DModel() ros.type = "AxisAligned3D" ros.geometry = toPolygonMesh3D(self.getAABox3D()) return ros
def toAxisAlignedFootprintBoxModel(self): ros = Polygon2DModel() ros.type = "AxisAligned2D" ros.geometry = toPolygon2D(self.getAABox2D()) return ros
def toPosition2DModel(self): ros = Polygon2DModel() ros.type = "Position2D" ros.geometry = toPoint2D(self.getAPosition2D()) return ros